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   <div id="projectbrief">Beagleboard sensor interface on iRobot Create with sonar and USB webcam through WiFi</div>
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<div class="textblock"><code>#include &lt;sys/socket.h&gt;</code><br/>
<code>#include &lt;netinet/in.h&gt;</code><br/>
<code>#include &lt;netdb.h&gt;</code><br/>
</div>
<p><a href="_packet_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
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Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_packet.html">Packet</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">This struct defines the packet structure.  <a href="struct_packet.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="define-members"></a>
Defines</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_packet_8h.html#ac5b738d467a1bbf9325bcc0eaf4f5efa">MAXPACKETSIZE</a>&#160;&#160;&#160;5000</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_packet_8h.html#ac2d859718d6489331fcb6b9e9ec0b43d">MAXARTAGSEEN</a>&#160;&#160;&#160;10</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_packet_8h.html#a38e61823e781890fe42b859cb17b1ea5">SONAR_PACKET_SIZE</a>&#160;&#160;&#160;24</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_packet_8h.html#a73f2813a14076312ac8d579dd3f8792a">ARTAG_PACKET_SIZE</a>&#160;&#160;&#160;<a class="el" href="_packet_8h.html#ac2d859718d6489331fcb6b9e9ec0b43d">MAXARTAGSEEN</a>*20+12</td></tr>
<tr><td colspan="2"><h2><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0">PacketType</a> { <br/>
&#160;&#160;<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0a0cb1b2c6a7db1f1084886c98909a3f36">INIT</a> =  1, 
<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0adc6f24fd6915a3f2786a1b7045406924">END</a>, 
<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0a5ea73cf9a3f5928257b1e6bc796d8490">CTRL</a>, 
<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0a9d7d6f31868d66330397c967c4afd2d2">DATA</a>, 
<br/>
&#160;&#160;<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0a3501d25cdde2b141c20edb67965fb692">IMAGE</a>, 
<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0a4cc68226cf454df7dd46f74f2a18d240">SONAR</a>, 
<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0a2fd6f336d08340583bd620a7f5694c90">ERROR</a>, 
<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0a7690b021f467450541d8d89123429d40">SHUTDOWN</a>, 
<br/>
&#160;&#160;<a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0a6ce26a62afab55d7606ad4e92428b30c">UNKNOWN</a>
<br/>
 }</td></tr>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"></div><hr/><h2>Define Documentation</h2>
<a class="anchor" id="a73f2813a14076312ac8d579dd3f8792a"></a><!-- doxytag: member="Packet.h::ARTAG_PACKET_SIZE" ref="a73f2813a14076312ac8d579dd3f8792a" args="" -->
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          <td class="memname">#define <a class="el" href="_packet_8h.html#a73f2813a14076312ac8d579dd3f8792a">ARTAG_PACKET_SIZE</a>&#160;&#160;&#160;<a class="el" href="_packet_8h.html#ac2d859718d6489331fcb6b9e9ec0b43d">MAXARTAGSEEN</a>*20+12</td>
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<p>The packet size when using PacketType DATA. </p>

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<a class="anchor" id="ac2d859718d6489331fcb6b9e9ec0b43d"></a><!-- doxytag: member="Packet.h::MAXARTAGSEEN" ref="ac2d859718d6489331fcb6b9e9ec0b43d" args="" -->
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          <td class="memname">#define <a class="el" href="_packet_8h.html#ac2d859718d6489331fcb6b9e9ec0b43d">MAXARTAGSEEN</a>&#160;&#160;&#160;10</td>
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<p>The maximum number of ARtags that can be sent over at once. </p>

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</div>
<a class="anchor" id="ac5b738d467a1bbf9325bcc0eaf4f5efa"></a><!-- doxytag: member="Packet.h::MAXPACKETSIZE" ref="ac5b738d467a1bbf9325bcc0eaf4f5efa" args="" -->
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          <td class="memname">#define <a class="el" href="_packet_8h.html#ac5b738d467a1bbf9325bcc0eaf4f5efa">MAXPACKETSIZE</a>&#160;&#160;&#160;5000</td>
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<p>The maximum packet size, used for buffer init. </p>

</div>
</div>
<a class="anchor" id="a38e61823e781890fe42b859cb17b1ea5"></a><!-- doxytag: member="Packet.h::SONAR_PACKET_SIZE" ref="a38e61823e781890fe42b859cb17b1ea5" args="" -->
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          <td class="memname">#define <a class="el" href="_packet_8h.html#a38e61823e781890fe42b859cb17b1ea5">SONAR_PACKET_SIZE</a>&#160;&#160;&#160;24</td>
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<p>The packet size when using PacketType SONAR. </p>

</div>
</div>
<hr/><h2>Enumeration Type Documentation</h2>
<a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0"></a><!-- doxytag: member="Packet.h::PacketType" ref="a0a80a7bc045affcf10846075b88cbca0" args="" -->
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          <td class="memname">enum <a class="el" href="_packet_8h.html#a0a80a7bc045affcf10846075b88cbca0">PacketType</a></td>
        </tr>
      </table>
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<p>enum for the expected packet type </p>
<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0a0cb1b2c6a7db1f1084886c98909a3f36"></a><!-- doxytag: member="INIT" ref="a0a80a7bc045affcf10846075b88cbca0a0cb1b2c6a7db1f1084886c98909a3f36" args="" -->INIT</em>&nbsp;</td><td>
<p>init packet should always be received first before any operation. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0adc6f24fd6915a3f2786a1b7045406924"></a><!-- doxytag: member="END" ref="a0a80a7bc045affcf10846075b88cbca0adc6f24fd6915a3f2786a1b7045406924" args="" -->END</em>&nbsp;</td><td>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000001">Deprecated:</a></b></dt><dd>end packet to end operation and allow other remote client to connect. </dd></dl>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0a5ea73cf9a3f5928257b1e6bc796d8490"></a><!-- doxytag: member="CTRL" ref="a0a80a7bc045affcf10846075b88cbca0a5ea73cf9a3f5928257b1e6bc796d8490" args="" -->CTRL</em>&nbsp;</td><td>
<p>ctrl packet to contrl any thing in this program. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0a9d7d6f31868d66330397c967c4afd2d2"></a><!-- doxytag: member="DATA" ref="a0a80a7bc045affcf10846075b88cbca0a9d7d6f31868d66330397c967c4afd2d2" args="" -->DATA</em>&nbsp;</td><td>
<p>data packet contains the artag id and pose info. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0a3501d25cdde2b141c20edb67965fb692"></a><!-- doxytag: member="IMAGE" ref="a0a80a7bc045affcf10846075b88cbca0a3501d25cdde2b141c20edb67965fb692" args="" -->IMAGE</em>&nbsp;</td><td>
<p>image packet that has 160x120 image sent over. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0a4cc68226cf454df7dd46f74f2a18d240"></a><!-- doxytag: member="SONAR" ref="a0a80a7bc045affcf10846075b88cbca0a4cc68226cf454df7dd46f74f2a18d240" args="" -->SONAR</em>&nbsp;</td><td>
<p>sonar packet contains the three sonar distance measurements. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0a2fd6f336d08340583bd620a7f5694c90"></a><!-- doxytag: member="ERROR" ref="a0a80a7bc045affcf10846075b88cbca0a2fd6f336d08340583bd620a7f5694c90" args="" -->ERROR</em>&nbsp;</td><td>
<p>error packet to report of any error (not implemented). </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0a7690b021f467450541d8d89123429d40"></a><!-- doxytag: member="SHUTDOWN" ref="a0a80a7bc045affcf10846075b88cbca0a7690b021f467450541d8d89123429d40" args="" -->SHUTDOWN</em>&nbsp;</td><td>
<p>shutdown packet to quit this program entirely. </p>
</td></tr>
<tr><td valign="top"><em><a class="anchor" id="a0a80a7bc045affcf10846075b88cbca0a6ce26a62afab55d7606ad4e92428b30c"></a><!-- doxytag: member="UNKNOWN" ref="a0a80a7bc045affcf10846075b88cbca0a6ce26a62afab55d7606ad4e92428b30c" args="" -->UNKNOWN</em>&nbsp;</td><td>
<p>unknown?!. </p>
</td></tr>
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